A motion control method for a differential drive robot based on human walking for immersive telepresence

Abstract. This thesis introduces an interface for controlling Differential Drive Robots (DDRs) for telepresence applications. Our goal is to enhance immersive experience while reducing user discomfort, when using Head Mounted Displays (HMDs) and body trackers. The robot is equipped with a 360° camera that captures the Robot Environment (RE). Users wear an HMD and use body trackers to navigate within a Local Environment (LE). Through a live video stream from the robot-mounted camera, users perceive the RE within a virtual sphere known as the Virtual Environment (VE). A proportional controller was employed to facilitate the control of the robot, enabling to replicate the movements of the user. The proposed method uses chest tracker to control the telepresence robot and focuses on minimizing vection and rotations induced by the robot’s motion by modifying the VE, such as rotating and translating it. Experimental results demonstrate the accuracy of the robot in reaching target positions when controlled through the body-tracker interface. Additionally, it also reveals an optimal VE size that effectively reduces VR sickness and enhances the sense of presence